支气管介入的多段柔性连续体机器人实时形状重建
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作者单位:

1.北京信息科技大学;2.中国科学院自动化研究所

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TP242

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北京市杰出青年科学基金(JQ21016)


Real-time Shape Reconstruction of Flexible Multi-segment Continuum Robot Based for Bronchial Intervention
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Beijing Information Science and Technology University

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    摘要:

    连续体机器人在经人体自然腔道介入治疗中有着非常广泛的应用,但当前介入柔性连续体机器人远端定位精度差,缺乏精准导航手段。因此本文提出基于电磁定位信息的多段连续体机器人形状重建方法。通过形状重建实现末端精准导航和定位。提出了一种基于三阶贝塞尔曲线的高效的两段主动结构形状重建方法。将贝塞尔曲线求解优化为非线性最小二乘问题。通过线性递减权重的粒子群算法快速准确求解。所提出的方法可以较为精确的拟合双段连续体形状。并具有较好的实时性。结果表明,在弯曲角度过程中之内,形状重建的平均均方根误差为0.48mm,为连续体弯曲段长度的0.8%。通过详细的建模和验证结果证明了所提出的用于腔内介入的微型连续机器人形状重建方法的准确性和可靠性。

    Abstract:

    Continuum robots are widely applied in minimally invasive interventions through natural orifices of the human body. The challenge of poor distal positioning accuracy in flexible continuum robots, along with a lack of precise navigation methods, is recognized. In response, a multi-segment continuum robot shape reconstruction method based on electromagnetic positioning information is proposed, aimed at achieving accurate end navigation and positioning. An efficient shape reconstruction method for a two-segment active structure, based on third-order Bézier curves, was introduced. The solution of Bézier curves was optimized as a nonlinear least squares problem and was quickly and accurately solved by a particle swarm algorithm with linearly decreasing weight. The method proposed allows for the accurate fitting of the shape of dual-segment continua. And has good real-time performance. The results show that within the bending angle process, the average root-mean-square error of shape reconstruction is 0.48 mm, which is 0.8% of the length of the continuum bending segment. The accuracy and reliability of the proposed shape reconstruction method for intracavitary interventions using micro-continuum robots are demonstrated through detailed modeling and validation results.

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张名洋,边桂彬. 支气管介入的多段柔性连续体机器人实时形状重建[J]. 科学技术与工程, , ():

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  • 收稿日期:2024-03-24
  • 最后修改日期:2024-04-22
  • 录用日期:2024-04-23
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